From ba9c21cf3889014655d2baee61340449cb1fff05 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Wed, 10 Jan 2024 20:48:23 -0800
Subject: [PATCH] [wpilib] Fix SysId log key for acceleration (#6196)

Also add to docs that logging acceleration and current is optional.
---
 .../main/native/include/frc/sysid/SysIdRoutineLog.h    |  6 ++++++
 .../edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java   | 10 ++++++++--
 2 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h b/wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h
index 7f106bd173b..117d1208708 100644
--- a/wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h
+++ b/wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h
@@ -112,6 +112,8 @@ class SysIdRoutineLog {
     /**
      * Log the linear acceleration of the motor.
      *
+     * This is optional; SysId can perform an accurate fit without it.
+     *
      * @param acceleration The linear acceleration to record.
      * @return The motor log (for call chaining).
      */
@@ -122,6 +124,8 @@ class SysIdRoutineLog {
     /**
      * Log the angular acceleration of the motor.
      *
+     * This is optional; SysId can perform an accurate fit without it.
+     *
      * @param acceleration The angular acceleration to record.
      * @return The motor log (for call chaining).
      */
@@ -132,6 +136,8 @@ class SysIdRoutineLog {
     /**
      * Log the current applied to the motor.
      *
+     * This is optional; SysId can perform an accurate fit without it.
+     *
      * @param current The current to record.
      * @return The motor log (for call chaining).
      */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java
index 38bc46f4000..dac100fac0f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java
@@ -163,12 +163,14 @@ public MotorLog angularVelocity(Measure<Velocity<Angle>> velocity) {
     /**
      * Log the linear acceleration of the motor.
      *
+     * <p>This is optional; SysId can perform an accurate fit without it.
+     *
      * @param acceleration The linear acceleration to record.
      * @return The motor log (for call chaining).
      */
     public MotorLog linearAcceleration(Measure<Velocity<Velocity<Distance>>> acceleration) {
       return value(
-          "position",
+          "acceleration",
           acceleration.in(MetersPerSecond.per(Second)),
           MetersPerSecond.per(Second).name());
     }
@@ -176,12 +178,14 @@ public MotorLog linearAcceleration(Measure<Velocity<Velocity<Distance>>> acceler
     /**
      * Log the angular acceleration of the motor.
      *
+     * <p>This is optional; SysId can perform an accurate fit without it.
+     *
      * @param acceleration The angular acceleration to record.
      * @return The motor log (for call chaining).
      */
     public MotorLog angularAcceleration(Measure<Velocity<Velocity<Angle>>> acceleration) {
       return value(
-          "position",
+          "acceleration",
           acceleration.in(RotationsPerSecond.per(Second)),
           RotationsPerSecond.per(Second).name());
     }
@@ -189,6 +193,8 @@ public MotorLog angularAcceleration(Measure<Velocity<Velocity<Angle>>> accelerat
     /**
      * Log the current applied to the motor.
      *
+     * <p>This is optional; SysId can perform an accurate fit without it.
+     *
      * @param current The current to record.
      * @return The motor log (for call chaining).
      */